Texas Instruments Stellaris MDL-BDC24 Getting Started Manual Download | Manualshive

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January 5, 2011

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Summary of Contents for Stellaris MDL-BDC24

Page 1: ...MDL BDC24 GSG 04 Copyright 2009 2011 Texas Instruments Getting Started Guide Stellaris MDL BDC24 Brushed DC Motor Control Module ...

Page 2: ...is and StellarisWare are registered trademarks of Texas Instruments ARM and Thumb are registered trademarks and Cortex is a trademark of ARM Limited Other names and brands may be claimed as the property of others Texas Instruments 108 Wild Basin Suite 350 Austin TX 78746 http www ti com stellaris ...

Page 3: ...ion using the RS232 Interface 17 BDC COMM Application Overview 17 Chapter 6 Firmware Update Using BDC COMM 19 Important Information 19 Step 1 Hardware Setup 19 Step 2 Run BDC COMM 20 Step 3 Assign Unique CAN ID 20 Step 4 Update Firmware 20 Chapter 7 Closed Loop Control Options 21 Wiring 21 Constant Current Control 22 Position Control using an Encoder 22 Position Control Using a Potentiometer 23 Sp...

Page 4: ...4 January 5 2011 ...

Page 5: ...itate the design of complex robots within the short six week FRC build period This document provides a complete description of how to use Jaguar in both Networked and Servo control modes Information applies to both the MDL BDC and MDL BDC24 models except where noted Additional information can be found in the MDL BDC and MDL BDC24 data sheets as well as in related application notes Figure 1 1 Next ...

Page 6: ...o Run Read Jaguar GSG Introduction to Network Control Chapter Decision CAN Interface Method Network Read 3rd Party CAN Bridge documentation 3rd Party CAN Interface Assemble and connect cables RS232 CAN Power Read Jaguar GSG Operation using RS232 Chapter Read Jaguar GSG Firmware Update using BDC COMM Chapter Update firmware in each Jaguar Connect to cRIO based FRC control system Black Jaguar Bridge...

Page 7: ...ures Quiet control of brushed DC motors 15 kHz PWM frequency Three options for Speed control Industry standard R C servo type PWM interface Controller Area Network CAN interface RS232 serial interface CAN communication Multicast shared serial bus for connecting systems in electromagnetically noisy environments 1M bits s bit rate CAN protocol version 2 0 B Full configurability of module options Rea...

Page 8: ...of the module warranty Mount the Jaguar module so that the vents in the top and sides of the unit are not restricted in any way Maintain a clearance of at least inch between modules Reverse wiring is unprotected doing so voids the Jaguar module s warranty Do not exceed the absolute maximum supply voltage 30 VDC for MDL BDC24 13 V for MDL BDC Doing so causes permanent damage to the module Protect J...

Page 9: ...erse Solid Green Full speed forward Solid Red Full speed reverse Fault Conditions Slow Flashing Yellow Loss of servo or Network link Fast Flashing Yellow Invalid CAN ID Motor Out Motor Motor In In From Power Distribution Module Motor output is not protected against short circuits User Switch Use hooks to prevent wires shaking loose Maintain0 5 clearance around all vents Status LED Mounting holes 3...

Page 10: ...and for 3 seconds after the fault cause is cleared except for the limit switch fault Slow Flashing Red Fault condition Calibration Conditions Fast Flashing Red and Green Calibration mode active Fast Flashing Red and Yellow Calibration mode failure Fast Flashing Green and Yellow Calibration mode success Slow Flashing Red and Green Calibration mode reset to factory default settings success Table 2 4...

Page 11: ...or The coast brake signal can be set with a jumper or controlled by a signal from a digital source A single wire connected to the center S pin is recommended Do not connect to the pin 3 3 V of this connector as any mis wiring could damage the MDL BDC24 The coast brake jumper setting can be overwritten when using the CAN RS232 interface Power and Motor Wiring The Overview diagram Figure 1 2 on page...

Page 12: ...General Operation 12 January 5 2011 ...

Page 13: ...optically isolated All other control inputs are non isolated and are referenced to the power supply Calibrating the PWM Input To accommodate variation in the timing of the supplied signal Jaguar has a calibrate feature that sets new values for full forward full reverse and points in between Calibration is normally only required in applications where the PWM source has uncertainties due to analog r...

Page 14: ...uct the controller to send a full forward signal for one or more seconds 4 Instruct the controller to send a full reverse signal for one or more seconds 5 The LED flashes Green and Yellow quickly to indicate a successful calibration The MDL BDC24 samples these signals and centers the speed range and neutral position between these limits A calibration failure signals if an out of range signal is de...

Page 15: ...added This capability is supported in an FRC specific firmware update All MDL BDC and MDL BDC24 modules must have updated firmware if they are to be used with CAN or RS232 communication in an FRC competition Trusted Mode FIRST Robotics Competition feature Each MDL BDC and MDL BDC24 module expects to see a trusted message from the Host every 100 ms If a trusted message is not received the MDL BDC a...

Page 16: ...Introduction to Network Based Control 16 January 5 2011 ...

Page 17: ...s for RS232 to CAN See Appendix A Jaguar Communication Cables on page 29 for details of the RS232 cable assembly The recommended DB9 adapter design contains an integrated CAN terminator BDC COMM Application Overview BDC COMM is a Windows application for configuring and controlling a Jaguar network using a PC s RS232 serial port It is also a convenient tool for performing firmware updates BDC COMM ...

Page 18: ...Operation using the RS232 Interface 18 January 5 2011 Figure 5 2 BDC COMM GUI Main Window ...

Page 19: ...ware We strongly recommend connecting only one Jaguar to the network at a time The exception is when updating a single first generation MDL BDC Jaguar To update an MDL BDC Jaguar add only theMDL BDC24 that is being used as the RS232 to CAN bridge Use the correct binary file For first generation MDL BDC modules the file is named QS BDC bin For second generation MDL BDC24 modules black the file is n...

Page 20: ... or the operation times out The module s LED blinks the number of times that corresponds to the ID if assignment was successful for example if you assign the unique ID number of 5 the LED blinks five times A fast flashing yellow LED indicates an invalid CAN ID This can occur if an attempt is made to reassign an ID that is already in use Step 4 Update Firmware A valid link must be established befor...

Page 21: ...ontrol mode refer to API VI or tool documentation for information on which commands to use for configuration Wiring All closed loop mode except for constant current control require an external sensor Figure 7 1 shows an advanced wiring configuration using the CAN interface The diagram shows wiring for position sensing using both a position potentiometer and a quadrature encoder Although two sensor...

Page 22: ... modules accept position commands over the network and then use an internal PID controller to autonomously move the motor to the specified position The QEI software position count changes on each pulse of the Encoder A input For example a 360 movement of a 100 pulse per revolution PPR encoder results in a 100 count change in the position value PPR is sometimes referred to as the number of lines th...

Page 23: ...rces The encoder inputs are not electrically isolated Position Control Using a Potentiometer Position control can also be implemented with a single or multi turn potentiometer Potentiometers with continuous rotation are not supported The MDL BDC and MDL BDC24 modules contain a built in bias pin for use with 10 kΩ potentiometers If another potentiometer value or analog source is used it must have a...

Page 24: ...Closed Loop Control Options 24 January 5 2011 ...

Page 25: ... CAN bus is accessed using an assigned ID number The ID defaults to 1 but should be changed to a unique value from 2 to 63 by following the ID Assignment procedure The procedure is detailed in Step 3 of the firmware update procedure in Chapter 6 Firmware Update Using BDC COMM page 19 At the network protocol level ID assignment involves the following 1 The Host sends Assign ID number command to all...

Page 26: ... available BDC COMM is a Windows application for configuring testing and performing firmware upgrades Table 8 1 CAN Wiring Parameters Parameter Value Notes Maximum Nodes 16 A node is defined as a device on the CAN network This includes all Jaguar modules and any device that sends and receives CAN messages If you use the Black Jaguar as a bridge all Jaguar modules gray or black including the Bridge...

Page 27: ... Guide January 5 2011 27 LabView VI Java API C API Example source code for a host based on a Stellaris Microcontroller can be found in StellarisWare boards rdk bdc bdc ui also available at www luminarymicro com jaguar ...

Page 28: ...Operation Using the CAN Interface 28 January 5 2011 ...

Page 29: ...Pin 2 2 and so on This is also referred to as a reverse cable because the tabs on the connectors are on the opposite sides of the cable The CAN cable needs only 4 conductors but it is acceptable to use a 6 conductor cable and plugs A suitable 6 ft off the shelf 6P4C cable is Digikey Stock No A2662R 07 ND Figure A 2 shows the materials needed to build custom length CAN cables Apart from a modular p...

Page 30: ...s RS232 Cable Assembly Follow these steps to complete cable assembly shown in Figure A 4 1 Take the Modular Adapter and cut the black wire as short as possible This wire is unused 2 Cut off the terminals on the Red and Green wires Strip then solder the Red and Green wires to the 100 resistor Use a section of heat shrink to protect the resistor and solder connections Plug Wire Color Jaguar Use 1 Bl...

Page 31: ... Cable Pin Assignments External References The following references are also useful for working with MDL BDC24 module The MDL BDC24 Data Sheet contains detailed electrical specifications and connector details The BDC COMM User s Guide provides instructions on how to use the BDC COMM GUI and command line applications to control Jaguar networks MDL BDC24 FAQ 6P6C Wire Color Jaguar Use PC Use DB9 Pin...

Page 32: ...External References 32 January 5 2011 ...

Page 33: ...horized for use in safety critical applications such as life support where a failure of the TI product would reasonably be expected to cause severe personal injury or death unless officers of the parties have executed an agreement specifically governing such use Buyers represent that they have all necessary expertise in the safety and regulatory ramifications of their applications and acknowledge ...

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